RU30336U1 - VEHICLE - Google Patents

Description

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IPC at 62 D 57/032

Vehicle

The utility model relates to the field of mechanical engineering and can be used to automate special operations on surfaces randomly oriented in space.

A walking vehicle is known, comprising two pneumatic cylinders with running bearings, the cylinders of which are rigidly connected to the vehicle body, and the rods are connected to running bearings, and a control system that is equipped with a speed synchronization unit including two electric motors, two worm gears, two controllable couplings and two rack and pinion gears, the output shaft of each electric motor is connected through the corresponding serially connected worm gear and a controlled coupling with the corresponding rack and pinion gear , which is rigidly connected to the rod of the corresponding pneumatic cylinder, while the control inputs of the electric motors are connected to the control system (see SU 1633691/1 /). A disadvantage of the known device is the design complexity and significant dimensions.

A vehicle is known that can be used to carry out work on structures with randomly oriented surfaces and structural elements. The transport mechanism contains two legs with grips and two hips connected by rotary nodes, while the legs are connected to the grippers by hinges, and the axis of rotation of the rotary nodes of the thigh-thigh are parallel to the supporting surface, and the thigh-lower leg is perpendicular to the supporting surface (see RU 2092367 121). A disadvantage of the known device is the design complexity, significant dimensions and low manners.

Declared as a utility model, the vehicle is aimed at simplifying the design and reducing the size.

The specified result is achieved in that the vehicle contains two bodies equipped with means for fixing them relative to the displacement surface, while one of the bodies is installed inside the other body with the possibility of linear movement and rotation of the bodies relative to each other.

The indicated result is also achieved by the fact that the means for fixing the housings relative to the displacement surface are made in the form of vacuum grippers.

The specified result is also achieved by the fact that the means of rotation of the bodies relative to each other is made in the form of an electric motor, the stator of which is rigidly connected to one of the buildings, and the rotor to the other.

The indicated result is also achieved by the fact that the means for linear displacement of the bodies relative to each other is made in the form of a rack-pinion gear set equipped with a drive.

The specified result is also achieved by the fact that the gear rack is mounted on the outer casing, and the gears on the inner.

Placing one vehicle body inside another makes it possible to reduce its dimensions and simplify the design. The installation of the bodies with the possibility of their linear movement and rotation relative to each other and supplying them with fixation means enables the vehicle to move along the movement surface along any desired path.

Means for fixing the housings relative to the displacement surface can be made in the form of electromagnets, quickly setting glue or vacuum grips.

The most preferred is the use of vacuum grips, since electromagnetic clamps can only be used to move on ferromagnetic surfaces, and the use of adhesives reduces the speed of movement of the vehicle.

The means for ensuring the rotation of the housings relative to each other can be chosen by any of the known, but the simplest solution is to use an electric motor, the stator of which is rigidly connected directly to one of the housings directly or through intermediate elements, and the rotor (also directly or through intermediate elements) to others.

The means for linearly moving the housings relative to each other may be selected by any of a number of known. It can be a linear electric motor, power cylinders (see / 1 /, / 2 /) or a gear pair “rack - pinion. The latter option is more preferable, as the simplest. In addition, the gear pair can simultaneously serve as a rigid coupling element between the rotor of the electric motor and one of the housings (for example, internal).

In this case, the rack (or racks) can be fixed (fixed) on the inner casing, and the gear (or gears) - on the outer. In another case, the rack (s) may be connected to the outer casing, and the gear to the inner. The latter option is preferable, as it provides greater maneuverability of the vehicle, since longer rails can be installed on the outer casing than on the inner one.

The essence of the claimed vehicle is illustrated by examples of its implementation and drawings. In FIG. 1a, a schematic representation of a vehicle in general form in a most preferred embodiment; in FIG. 1a is a sectional side view; in FIG. 1c is a bottom view. In FIG. 2 - a general view of the vehicle, a side view; in FIG. 3 - sectional view of the outer casing; in FIG. 4a, c - shows the inner case; in FIG. 4a is a plan view; in FIG. 4c is a side view. In FIG. 5a, c - (bottom view) - two extreme positions of the inner case with respect to the outer are shown schematically (can also be considered as the position of the outer case with respect to the inside). The letter T denotes the amount of displacement (maximum) of one housing in relation to another, i.e. the amount of movement of the vehicle (on the scale of the depicted vehicle in the diagram). In FIG. 6 shows a diagram of the implementation of a rotation, for example, by 45 ° of the inner body relative to the outer one, in order to continue the movement of the vehicle, changing the path by 45 °. In FIG. 7 shows a diagram of the movement of the vehicle (bottom view) in a straight line and a rotation of 45 °. The distance traveled on a scale of the depicted vehicle is presented.

The vehicle consists of two buildings - external 1 and internal 2 (Fig. 1A, b). The shape of the buildings in the plan can be any - rectangular, hexagonal, oval. From the point of view of optimizing the design and ensuring maximum displacement of the housings relative to each other, with one cycle of movement, the most appropriate is the execution of round-shaped housings. The outer casing has a cavity 3, in which, according to a certain program of movement of the vehicle, a vacuum is created. Cavity 3 by means of a sliding seal 4 of a special material with a low coefficient of friction and elastic compliance (for example, special rubber) is in contact with the surface on which the vehicle is located. An electric motor 6 is mounted on the roof 5 of the outer casing in the center, on the rotor shaft of which a disk 7 is mounted, made as a ball bearing with a closed flat middle. The disk is mounted with its outer part 8 (outer end surface) on the side surface of the casing of the outer casing. On the lower surface of the Central part of the disk 7 parallel to the axis are made at a shallow depth (along the thickness of the disk) two grooves 9 with gear cutting. (It is possible to use two toothed racks with side ribs). A high-performance electric fan 10 is mounted on the roof 5, which sucks air through the ducts 11 at the right times depending on the established program of vehicle movement from the cavity 3. Along the perimeter of the inside of the cavity 3, i.e. in the zone where the inner case is located, a ledge 12 is made, which prevents the inner case from falling out when the vehicle is torn off (raised) from the surface.

The inner casing 2, which, like the outer casing 1, has a cavity 13 in which a vacuum is created according to the vehicle’s movement program. The cavity 13 by means of (through) the sliding seal 14 is in contact with the surface. A high-performance electric fan 15 is also mounted on the upper surface of the housing, which sucks air according to the established program of vehicle movement from the cavity 13. Two electric motors 16 are fixed on the upper surface (with a certain design, one can be installed

electric motor), on the shafts of which the gears 17 are fastened, engaged with the teeth of the gear grooves (racks) 9. In this case, the gear pair “rail (groove) - gear also performs the function of transmitting rotational motion from the rotor shaft of the electric motor 6 through the disk 7 to the inner case 2, providing a rigid connection "rotor - inner case. So that the inner module does not fall out when lifting the vehicle, a circular ledge 18 is made on its outer surface.

The vehicle operates as follows. Figure 5 a, b shows the movement of the vehicle by the maximum value of T from position (a) to position (b). For this, a vacuum is created in the cavity 13 of the inner case. Then, with the help of electric motors 16, gears 17 rotate in this direction, interacting with gear grooves 9, so that the outer casing moves in the direction of the arrow (up). To move further along the arrow, a vacuum is created in the cavity 3 of the outer casing; then the cavity 13 of the inner case is evacuated; gears 17 rotate in the opposite direction; the inner case moves in an arrow, occupying a position similar to position (a).

In FIG. 6 is an explanation of a change in the direction of travel of the vehicle (for example, 45 °). A vacuum is formed in the cavity 3 of the outer casing; then the cavity 13 of the inner case is evacuated; the electric motor 6 rotates the disk 7 by 45 °. At the same time, since the disk 7 is rigidly connected to the inner casing through the rack – pinion gear pair, the latter will also rotate by the same angle. Further, the movement of the vehicle is carried out according to the circuit shown in FIG. 5.

The proposed vehicle may contain autonomous power sources and can be controlled remotely or in accordance with a predetermined program embedded in the on-board computer. It is also possible to use stationary power sources, which in this case are connected by power and control hoses to the vehicle.

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Claims (5)

1. A vehicle containing two bodies equipped with means for fixing them relative to the displacement surface, wherein one of the bodies is mounted inside the other with the possibility of linear movement and rotation of the bodies relative to each other. 2. The vehicle according to claim 1, characterized in that the means for fixing the bodies relative to the displacement surface are made in the form of vacuum grippers. 3. The vehicle according to claim 1, characterized in that the means of rotation of the bodies relative to each other is made in the form of an electric motor, the stator of which is rigidly connected to one of the bodies, and the rotor to the other. 4. The vehicle according to claim 1, characterized in that the means for linearly moving the housings relative to each other is made in the form of a rack-pinion gear pair equipped with a drive. 5. The vehicle according to claim 4, characterized in that the gear rack is mounted on the outer casing, and the gears on the inside.